# Description

This PR fix https://github.com/isaac-sim/IsaacLab/issues/831 by taking
into account the Isaac Sim installation using PIP

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Name of Cartpole Manager-based Vision-Based was incorrect in docs,
changed to match the exact argument that should be passed as task to
workflows

## Type of change
- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adding a buildspec for repo mirroring job:
- Mirrors a branch
- Uses personal github token
- Target repo and branch names are coming from env variables
- Pushing code with force

# Description

- Improving CI code formatting and readability
- Updated AMI: nvidia-container-toolkit vulnerability fix
- Making Isaac SIM base image an argument in Dockerfile

---------
Co-authored-by: Alexander Poddubny <apoddubny@apoddubny-mlt.client.nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

Update FrameTransformer to handle 2 new functionalities:
* Target frames that aren't children of the source frame prim_path
* Target frames that are based upon the source frame prim_path

These new changes mean that the frame names will most likely be
different than the configured order - but this was always a possibility
to the way the regex is parsed. To be safe, users need to use
`frame_names` to determine indexing into `FrameTransformerData`.

Test cases have been added for both of these new functionalities -
thanks @Mayankm96!

Also, the run script has been updated slightly as the previous indexing
was off by 1.


Fixes #857 #294

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This change adds support to the train.py workflow scripts to support
setting seed=-1 to generate a random seed. Previously, setting seed to
-1 would cause errors to be thrown from RL libraries due to negative
seed values.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

A typo in the code was preventing the `size` parameter in GroundPlaneCfg
from being parsed and applied to the default ground plane. In addition,
some errors are being thrown with the kit command use to apply the
scale. This change fixes the typo and switches to use isaac sim core
APIs for applying scale.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

It seems that `pxr.Semantics` module is now deprecated. Instead the
`Semantics` module should be used directly. This MR makes changes to the
affected modules.

Verified for Isaac Sim 4.2.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

For all observation-related terms, we follow the noun name for the
function. However, the camera one was called `grab_images`. This MR
renames it to `image` to make it consistent with the others.

Also the docstring for the math-utils were messed up. According to
Google's docstyle, the first line should be a short summary and a
detailed summary should move to the next paragraph. This MR fixes that
as well.

Lastly, the name of the function
`convert_perspective_depth_to_orthoginal_depth` has too much redundancy.
The MR renames it to `orthogonalize_perpsective_depth`.

All these are breaking changes with no backwards compatibility (since
they were added post-last release anyway).

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Adds the `enable_cameras` flag to tutorials requiring cameras.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Fix small typos in the documentation and comments

## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This pull request fixes an issue where the device was being parsed by
the app launcher but not set into the scripts. This change ensures that
the device is correctly passed from CLI arguments to the simulation
configuration in standalone scripts.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This pull request fixes a bug that prevented setting the seed from CLI
arguments. The issue was caused by an extra pair of quotation marks in
the `hasattr` check for `args_cli`. Removing these allows the seed to be
correctly set via CLI.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adds manager based cartpole vision example environments. 

Also uses the`convert_perspective_depth_to_orthogonal_depth `
functionality introduced in #976 , contains a duplicate copy of the
method and test for completeness of the PR. Will be synced with main to
remove this duplicate copy once #976 is merged into main, or #976 will
be synced with main if this PR is merged first

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

![image](https://github.com/user-attachments/assets/4cce3923-b199-4469-b8d0-9d8d8abb3456)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

## Testing

Training converged in both RGB and Depth at similar rates to the direct
environments

---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Signed-off-by: glvov-bdai <glvov@theaiinstitute.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This MR swaps the keyboard command (X, Z) for yaw in the `Se2Keyboard` class
to have the following mapping:
- Z - positive yaw
- X - negative yaw

It also corrects the docstring of the `Se2Keyboard` class.

Fixes #1029

_Note:_ I double checked the `Se3Keyboard` class and the implementation
there is correct.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adds `6` to the joint indices when indexing the Jacobian tensor in
floating base systems. This is required because, in floating base
articulations, the first 6 elements of the last dimensions are w.r.t
to the root pose, not the joints.

Fixes #1032

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR fixes the teddy state machine example. Replicate physics doesn't
work for deformable bodies yet. Hence, calling more than one environment
was failing before. The flag is set to False now inside the post init of
the environment.

Fixes #1022

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

This pull request fixes the issue where the device (`CPU` or `CUDA`) is
not set correctly when using the `--device` argument in Hydra-configured
scripts like `rsl_rl/train.py` and `skrl/train.py`. The bug caused the
scripts to always default to `cuda:0`, even when `cpu` or a specific
CUDA device (e.g., `cuda:1`) was selected.

The fix adds the following line to ensure that the selected device is
properly set in `env_cfg` before initializing the environment with
`gym.make()`:

```python
env_cfg.sim.device = args_cli.device
```

Fixes #1012

- Bug fix (non-breaking change which fixes an issue)

Before:
- skrl/train, when running the script with --device cpu, it defaults to
cuda:0.
- rsl_rl/train.py, the script freezes at `[INFO]: Starting the
simulation. This may take a few seconds. Please wait....`

After:
- Both scripts run correctly on the specified device (e.g., cpu or
cuda:1) without defaulting to cuda:0 or freezing.

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

There were minor typos introduced during last minute changes for the
release. This MR fixes those typos.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

Updates the CI runner and adds an app warm starting phase before running all the tests.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Updates unit tests to release 1.2

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Updates asset and docker paths to Isaac Sim 4.2

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds images to the showroom documentation page. It also modifies
the scripts to make sure the default camera placement is nice.

## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

- Restructures the documentation
- Adds tabs for commands on Windows
- Updates PhysX links with correct versions

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adds the teddy bear pick and lift example

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

- Fixes the camera frame delay
- Adds `update_articulations_kinematic` in various places to make sure
link poses are always up to date

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

- Adds description on running multi-agents environments in docs
- Add driver requirement for Windows

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adds secrets in doc building pipeline

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Improves actuator performance by replacing the joint_ids type from list
to torch tensor

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Updates code and docs to Isaac Sim 4.2.0

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR update skrl integration to skrl-v1.3.0

Features/changes
* Support Multi-GPU and Multi-Node Training in JAX (for this the
`JAX_LOCAL_RANK` and `JAX_RANK` was added to `AppLauncher` to be able to
specify the GPUs in distributed learnings)
* Update skrl train/play workflow to use `date_time_algorithm_framework`
format for logs folders
* Update (and add new ones) skrl agent's configs for the tasks. The
configs where automatically generated from `rl_games`/`rsl_rl` config as
shown in the next table.

    ```

+------------------------------------------------+------------+------------------------+------------------------------------+--------+
| Task | Registered | RL libraries | Generated | Status |

+------------------------------------------------+------------+------------------------+------------------------------------+--------+
| Isaac-Ant-Direct-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml
(rl_games) | |
| Isaac-Ant-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml (rl_games)
| |
| Isaac-Cart-Double-Pendulum-Direct-v0 | - 3 - | rl_games, skrl |
skrl_ppo_cfg.yaml (rl_games) | M |
| Isaac-Cartpole-Depth-Camera-Direct-v0 | | rl_games, skrl | | |
| Isaac-Cartpole-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Cartpole-RGB-Camera-Direct-v0 | | rl_games, skrl | | |
| Isaac-Cartpole-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml
(rl_games) | |
| Isaac-Franka-Cabinet-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Humanoid-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Humanoid-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml
(rl_games) | |
| Isaac-Lift-Cube-Franka-IK-Abs-v0 | No | | | |
| Isaac-Lift-Cube-Franka-IK-Rel-v0 | No | | | |
| Isaac-Lift-Cube-Franka-Play-v0 | | rl_games, rsl_rl, skrl | - | |
| Isaac-Lift-Cube-Franka-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Navigation-Flat-Anymal-C-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Navigation-Flat-Anymal-C-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Open-Drawer-Franka-IK-Abs-v0 | No | | | |
| Isaac-Open-Drawer-Franka-IK-Rel-v0 | No | | | |
| Isaac-Open-Drawer-Franka-Play-v0 | | rl_games, rsl_rl, skrl | - | |
| Isaac-Open-Drawer-Franka-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Quadcopter-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Reach-Franka-IK-Abs-v0 | No | | | |
| Isaac-Reach-Franka-IK-Rel-v0 | No | | | |
| Isaac-Reach-Franka-Play-v0 | | rl_games, rsl_rl, skrl | - | |
| Isaac-Reach-Franka-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml
(rl_games) | |
| Isaac-Reach-UR10-Play-v0 | | rl_games, rsl_rl, skrl | - | |
| Isaac-Reach-UR10-v0 | | rl_games, rsl_rl, skrl | skrl_ppo_cfg.yaml
(rl_games) | |
| Isaac-Repose-Cube-Allegro-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0 | | rl_games, rsl_rl, skrl
| - | |
| Isaac-Repose-Cube-Allegro-NoVelObs-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Repose-Cube-Allegro-Play-v0 | | rl_games, rsl_rl, skrl | - | |
| Isaac-Repose-Cube-Allegro-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Repose-Cube-Shadow-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_ppo_cfg.yaml (rl_games) | |
| Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 | | rl_games, rsl_rl,
skrl | skrl_ff_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 | No | rl_games | | |
| Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0 | No | rl_games, rsl_rl
| - | |
| Isaac-Repose-Cube-Shadow-Vision-Direct-v0 | No | rl_games, rsl_rl |
skrl_vision_ppo_cfg.yaml (rsl_rl) | ?? |
| Isaac-Shadow-Hand-Over-Direct-v0 | - 3 - | rl_games, skrl |
skrl_ppo_cfg.yaml (rl_games) | M |
| Isaac-Velocity-Flat-Anymal-B-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Anymal-B-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Flat-Anymal-C-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rl_games) | |
| Isaac-Velocity-Flat-Anymal-C-Play-v0 | | rl_games, rsl_rl, skrl | - |
|
| Isaac-Velocity-Flat-Anymal-C-v0 | | rl_games, rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rl_games) | |
| Isaac-Velocity-Flat-Anymal-D-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Anymal-D-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Flat-Cassie-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Cassie-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Flat-G1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-G1-v0 | | rsl_rl, skrl | skrl_flat_ppo_cfg.yaml
(rsl_rl) | |
| Isaac-Velocity-Flat-H1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-H1-v0 | | rsl_rl, skrl | skrl_flat_ppo_cfg.yaml
(rsl_rl) | |
| Isaac-Velocity-Flat-Spot-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Spot-v0 | | rsl_rl, skrl | skrl_flat_ppo_cfg.yaml
(rsl_rl) | |
| Isaac-Velocity-Flat-Unitree-A1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Unitree-A1-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Flat-Unitree-Go1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Unitree-Go1-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Flat-Unitree-Go2-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Flat-Unitree-Go2-v0 | | rsl_rl, skrl |
skrl_flat_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-Anymal-B-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Anymal-B-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-Anymal-C-Direct-v0 | | rl_games, rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rl_games) | |
| Isaac-Velocity-Rough-Anymal-C-Play-v0 | | rl_games, rsl_rl, skrl | - |
|
| Isaac-Velocity-Rough-Anymal-C-v0 | | rl_games, rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rl_games) | |
| Isaac-Velocity-Rough-Anymal-D-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Anymal-D-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-Cassie-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Cassie-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-G1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-G1-v0 | | rsl_rl, skrl | skrl_rough_ppo_cfg.yaml
(rsl_rl) | |
| Isaac-Velocity-Rough-H1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-H1-v0 | | rsl_rl, skrl | skrl_rough_ppo_cfg.yaml
(rsl_rl) | |
| Isaac-Velocity-Rough-Unitree-A1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Unitree-A1-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-Unitree-Go1-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Unitree-Go1-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |
| Isaac-Velocity-Rough-Unitree-Go2-Play-v0 | | rsl_rl, skrl | - | |
| Isaac-Velocity-Rough-Unitree-Go2-v0 | | rsl_rl, skrl |
skrl_rough_ppo_cfg.yaml (rsl_rl) | |

+------------------------------------------------+------------+------------------------+------------------------------------+--------+
    ```


## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR adds the tutorial for Modifying an existing Direct RL
Environment.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

Adds Shadow Hand environment with vision and proprioception
observations. Image observations are used to train a CNN with RGB,
depth, and segmentation images, regressing on keypoint states that are
then combined with proprioception observations to be fed into an
asymmetric actor-critic policy.

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

![image](https://github.com/user-attachments/assets/d67c966b-2931-4ee4-84d1-8bc004471a21)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This fix removes the limitations of tiled rendering, allowing for
non-square resolutions and non-perfect square number of
tiles/environments. In addition, for small resolutions (width or height
<265), DLAA denoiser is used by default as a workaround to avoid frame
offset issues. An additional `rerender_on_reset` flag is added to the
environment configs to allow for an extra `render` call in reset APIs to
make sure sensor observations are updated after reset.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR removes the `rsl_rl` agent configs from multi-agent tasks so
avoid the following known issue:

```
Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 91, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/home/horde/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 117, in main
    runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
  File "/home/horde/miniconda/envs/isaaclab/lib/python3.10/site-packages/rsl_rl/runners/on_policy_runner.py", line 29, in __init__
    obs, extras = self.env.get_observations()
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py", line 145, in get_observations
    obs_dict = self.unwrapped._get_observations()
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py", line 580, in _get_observations
    raise NotImplementedError(f"Please implement the '_get_observations' method for {self.__class__.__name__}.")
NotImplementedError: Please implement the '_get_observations' method for Env.
```

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Before, the target cube position in the teleop_se3_agent example was
being reset every 5 seconds.
Now, it is only modified when the cube reaches the target.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Improves policy behavior for training Franka Cabinet direct environment
and Repose Cube Allegro direct environments.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

This change switches to the newly added replicator API for tiled
rendering. All tiled rendering behaviors are the same as before. The API
provides a cleaner interface to initialize tiled rendering.

## Type of change
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

Signed-off-by: Kelly Guo <kellyg@nvidia.com>